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fix

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This commit is contained in:
wuchangji 2022-06-28 16:21:32 +08:00
parent 021fad8d5d
commit a73b6032b8
2 changed files with 72 additions and 199 deletions
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14
mycobot_description/urdf/260_pi/mypal_260_pi_aikit.urdf
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@ -3,15 +3,14 @@
<xacro:property name="width" value=".2" /> <xacro:property name="width" value=".2" />
<!-- <link name="env"> <link name="env">
<visual> <visual>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae" scale="1.2 1.2 1.2"/>
<mesh filename="package://mycobot_description/urdf/260_pi/suit_env.dae"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/> <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
</visual> </visual>
</link> --> </link>
<link name="base"> <link name="base">
<visual> <visual>
@ -127,7 +126,6 @@
<origin xyz= "0 0 0.12" rpy = "0 0 0"/> <origin xyz= "0 0 0.12" rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint2_to_joint1" type="revolute"> <joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.014" upper = "1.49" velocity = "0"/> <limit effort = "1000.0" lower = "-0.014" upper = "1.49" velocity = "0"/>
@ -136,7 +134,6 @@
<origin xyz= "0 0 0.0" rpy = " -1.5707963 0 0 "/> <origin xyz= "0 0 0.0" rpy = " -1.5707963 0 0 "/>
</joint> </joint>
<joint name="joint3_to_joint2" type="revolute"> <joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/> <axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-0.213" upper = "0.872665" velocity = "0"/> <limit effort = "1000.0" lower = "-0.213" upper = "0.872665" velocity = "0"/>
@ -162,12 +159,11 @@
<!-- <origin xyz= " 0.178 0 -0.005" rpy = " -1.5707963 0 0 "/> --> <!-- <origin xyz= " 0.178 0 -0.005" rpy = " -1.5707963 0 0 "/> -->
</joint> </joint>
<!-- <joint name="vision_joint" type="fixed"> <joint name="vision_joint" type="fixed">
<axis xyz="0 0 0"/> <axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="env"/> <child link="env"/>
<origin xyz= "0 0 0" rpy = "0 0 0"/> <origin xyz= "0 0 0" rpy = "0 0 0"/>
</joint> --> </joint>
</robot> </robot>

179
mycobot_description/urdf/260_pi/suit_env.dae
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